1 #error This project has been reworked for use with a later version of the Xilinx tools and IP. Please find more up to date projects in other FreeRTOS/Demo/MicroBlaze_nnn directories.
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4 FreeRTOS V7.4.1 - Copyright (C) 2013 Real Time Engineers Ltd.
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6 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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7 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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9 ***************************************************************************
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11 * FreeRTOS tutorial books are available in pdf and paperback. *
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12 * Complete, revised, and edited pdf reference manuals are also *
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15 * Purchasing FreeRTOS documentation will not only help you, by *
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16 * ensuring you get running as quickly as possible and with an *
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17 * in-depth knowledge of how to use FreeRTOS, it will also help *
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18 * the FreeRTOS project to continue with its mission of providing *
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19 * professional grade, cross platform, de facto standard solutions *
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20 * for microcontrollers - completely free of charge! *
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22 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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24 * Thank you for using FreeRTOS, and thank you for your support! *
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26 ***************************************************************************
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29 This file is part of the FreeRTOS distribution.
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31 FreeRTOS is free software; you can redistribute it and/or modify it under
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32 the terms of the GNU General Public License (version 2) as published by the
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33 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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35 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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36 distribute a combined work that includes FreeRTOS without being obliged to
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37 provide the source code for proprietary components outside of the FreeRTOS
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40 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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41 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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42 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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43 details. You should have received a copy of the GNU General Public License
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44 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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45 viewed here: http://www.freertos.org/a00114.html and also obtained by
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46 writing to Real Time Engineers Ltd., contact details for whom are available
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47 on the FreeRTOS WEB site.
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51 ***************************************************************************
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53 * Having a problem? Start by reading the FAQ "My application does *
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54 * not run, what could be wrong?" *
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56 * http://www.FreeRTOS.org/FAQHelp.html *
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58 ***************************************************************************
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61 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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62 license and Real Time Engineers Ltd. contact details.
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64 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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65 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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66 fully thread aware and reentrant UDP/IP stack.
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68 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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69 Integrity Systems, who sell the code with commercial support,
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70 indemnification and middleware, under the OpenRTOS brand.
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72 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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73 engineered and independently SIL3 certified version for use in safety and
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74 mission critical applications that require provable dependability.
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78 * Creates all the demo application tasks, then starts the scheduler. The WEB
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79 * documentation provides more details of the standard demo application tasks.
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81 * In addition to the standard tasks, main() creates two "Register Check"
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82 * tasks. These tasks write known values into every general purpose register,
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83 * then check each register to ensure it still contains the expected (written)
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84 * value. The register check tasks operate at the idle priority so will get
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85 * repeatedly preempted. A register being found to contain an incorrect value
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86 * following such a preemption would be indicative of an error in the context
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89 * Main.c also creates a task called "Check". This only executes every three
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90 * seconds but has the highest priority so is guaranteed to get processor time.
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91 * Its main function is to check that all the other tasks are still operational.
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92 * Each task (other than the "flash" tasks) maintains a unique count that is
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93 * incremented each time the task successfully completes its function. Should
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94 * any error occur within such a task the count is permanently halted. The
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95 * check task inspects the count of each task to ensure it has changed since
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96 * the last time the check task executed. If all the count variables have
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97 * changed all the tasks are still executing error free, and the check task
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98 * toggles the onboard LED. Should any task contain an error at any time
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99 * the LED toggle rate will change from 3 seconds to 500ms.
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103 /* Scheduler includes. */
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104 #include "FreeRTOS.h"
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107 /* Demo application includes. */
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108 #include "partest.h"
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110 #include "comtest2.h"
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111 #include "integer.h"
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112 #include "semtest.h"
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113 #include "BlockQ.h"
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114 #include "dynamic.h"
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117 /* Hardware library includes. */
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120 /* The rate at which the 'check' LED will flash when no errors have been
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122 #define mainNO_ERROR_CHECK_PERIOD 3000
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124 /* The rate at which the 'check' LED will flash when an error has been
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125 detected in one of the demo tasks. */
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126 #define mainERROR_CHECK_PERIOD 500
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128 /* Demo application task priorities. */
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129 #define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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130 #define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
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131 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
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132 #define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
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133 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
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134 #define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
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136 /* Software cannot influence the BAUD rate used by the simple UART
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138 #define mainBAUD_RATE 0
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140 /* The LED flashed by the 'check' task to indicate the system status. */
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141 #define mainCHECK_TASK_LED 3
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143 /* The first LED flashed by the COM port test tasks. LED mainCOM_TEST_LED + 1
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144 will also be used. */
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145 #define mainCOM_TEST_LED 4
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147 /* The register test task does not make any function calls so does not require
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148 much stack at all. */
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149 #define mainTINY_STACK 70
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152 * The task that executes at the highest priority and calls
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153 * prvCheckOtherTasksAreStillRunning(). See the description at the top
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156 static void vErrorChecks( void *pvParameters );
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159 * Checks that all the demo application tasks are still executing without error
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160 * - as described at the top of the file.
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162 static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void );
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165 * The register test task as described at the top of this file.
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167 static void vRegisterTest( void *pvParameters );
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170 * Perform any necessary hardware configuration.
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172 static void prvSetupHardware( void );
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174 /* Set to pdFAIL should an error be discovered in the register test tasks. */
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175 static unsigned long ulRegisterTestStatus = pdPASS;
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176 const unsigned long *pulStatusAddr = &ulRegisterTestStatus;
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178 /*-----------------------------------------------------------*/
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181 * Create all the demo tasks - then start the scheduler.
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185 /* When re-starting a debug session (rather than cold booting) we want
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186 to ensure the installed interrupt handlers do not execute until after the
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187 scheduler has been started. */
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188 portDISABLE_INTERRUPTS();
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190 prvSetupHardware();
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192 /* Start the standard demo application tasks. */
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193 vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
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194 vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_TEST_LED );
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195 vStartIntegerMathTasks( tskIDLE_PRIORITY );
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196 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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197 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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198 vStartDynamicPriorityTasks();
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199 vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
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201 /* Create two register check tasks - using a different parameter for each.
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202 The parameter is used to generate the known values written to the registers. */
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203 #if configUSE_PREEMPTION == 1
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204 xTaskCreate( vRegisterTest, "Reg1", mainTINY_STACK, ( void * ) 10, tskIDLE_PRIORITY, NULL );
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205 xTaskCreate( vRegisterTest, "Reg2", mainTINY_STACK, ( void * ) 20, tskIDLE_PRIORITY, NULL );
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208 /* Create the 'check' task that is defined in this file. */
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209 xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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211 /* Finally start the scheduler. */
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212 vTaskStartScheduler();
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214 /* Should not get here as the processor is now under control of the
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219 /*-----------------------------------------------------------*/
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221 static void vErrorChecks( void *pvParameters )
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223 portTickType xDelayPeriod = mainNO_ERROR_CHECK_PERIOD;
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225 /* The parameters are not used. */
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226 ( void ) pvParameters;
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228 /* Cycle for ever, delaying then checking all the other tasks are still
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229 operating without error. The delay period used will depend on whether
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230 or not an error has been discovered in one of the demo tasks. */
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233 vTaskDelay( xDelayPeriod );
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234 if( !prvCheckOtherTasksAreStillRunning() )
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236 /* An error has been found. Shorten the delay period to make
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237 the LED flash faster. */
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238 xDelayPeriod = mainERROR_CHECK_PERIOD;
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241 vParTestToggleLED( mainCHECK_TASK_LED );
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244 /*-----------------------------------------------------------*/
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246 static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void )
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248 static portBASE_TYPE xAllTestsPass = pdTRUE;
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250 /* Return pdFALSE if any demo application task set has encountered
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253 if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
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255 xAllTestsPass = pdFALSE;
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258 if( xAreComTestTasksStillRunning() != pdTRUE )
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260 xAllTestsPass = pdFALSE;
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263 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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265 xAllTestsPass = pdFALSE;
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268 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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270 xAllTestsPass = pdFAIL;
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273 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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275 xAllTestsPass = ( long ) pdFAIL;
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278 if( xArePollingQueuesStillRunning() != pdTRUE )
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280 xAllTestsPass = ( long ) pdFAIL;
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283 /* Mutual exclusion on this variable is not necessary as we only read it. */
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284 if( ulRegisterTestStatus != pdPASS )
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286 xAllTestsPass = pdFALSE;
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289 return xAllTestsPass;
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291 /*-----------------------------------------------------------*/
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293 static void prvSetupHardware( void )
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295 /* Ensure the interrupt controller is enabled in order that subsequent
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296 code can successfully configure the peripherals. */
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297 XIntc_mMasterEnable( XPAR_OPB_INTC_0_BASEADDR );
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299 /* Initialise the GPIO used for the LED's. */
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300 vParTestInitialise();
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302 /*-----------------------------------------------------------*/
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304 static void vRegisterTest( void *pvParameters )
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308 /* Fill the registers with their register number plus the offset
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309 (added) value. The added value is passed in as a parameter so
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310 is contained in r5. */
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311 asm volatile ( "addi r3, r5, 3 \n\t" \
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312 "addi r4, r5, 4 \n\t" \
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313 "addi r6, r5, 6 \n\t" \
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314 "addi r7, r5, 7 \n\t" \
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315 "addi r8, r5, 8 \n\t" \
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316 "addi r9, r5, 9 \n\t" \
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317 "addi r10, r5, 10 \n\t" \
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318 "addi r11, r5, 11 \n\t" \
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319 "addi r12, r5, 12 \n\t" \
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320 "addi r16, r5, 16 \n\t" \
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321 "addi r17, r5, 17 \n\t" \
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322 "addi r18, r5, 18 \n\t" \
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323 "addi r19, r5, 19 \n\t" \
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324 "addi r20, r5, 20 \n\t" \
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325 "addi r21, r5, 21 \n\t" \
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326 "addi r22, r5, 22 \n\t" \
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327 "addi r23, r5, 23 \n\t" \
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328 "addi r24, r5, 24 \n\t" \
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329 "addi r25, r5, 25 \n\t" \
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330 "addi r26, r5, 26 \n\t" \
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331 "addi r27, r5, 27 \n\t" \
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332 "addi r28, r5, 28 \n\t" \
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333 "addi r29, r5, 29 \n\t" \
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334 "addi r30, r5, 30 \n\t" \
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335 "addi r31, r5, 31 \n\t"
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338 /* Now read back the register values to ensure they are as we expect.
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339 This task will get preempted frequently so other tasks are likely to
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340 have executed since the register values were written. */
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342 /* r3 should contain r5 + 3. Subtract 3 to leave r3 equal to r5. */
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343 asm volatile ( "addi r3, r3, -3 " );
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345 /* Compare r3 and r5. If they are not equal then either r3 or r5
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346 contains the wrong value and *pulStatusAddr is to pdFAIL. */
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347 asm volatile ( "cmp r3, r3, r5 \n\t" \
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348 "beqi r3, 12 \n\t" \
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349 "lwi r3, r0, pulStatusAddr \n\t" \
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350 "sw r0, r0, r3 \n\t"
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353 /* Repeat for all the other registers. */
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354 asm volatile ( "addi r4, r4, -4 \n\t" \
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355 "cmp r4, r4, r5 \n\t" \
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356 "beqi r4, 12 \n\t" \
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357 "lwi r3, r0, pulStatusAddr \n\t" \
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358 "sw r0, r0, r3 \n\t" \
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359 "addi r6, r6, -6 \n\t" \
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360 "cmp r6, r6, r5 \n\t" \
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361 "beqi r6, 12 \n\t" \
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362 "lwi r3, r0, pulStatusAddr \n\t" \
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363 "sw r0, r0, r3 \n\t" \
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364 "addi r7, r7, -7 \n\t" \
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365 "cmp r7, r7, r5 \n\t" \
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366 "beqi r7, 12 \n\t" \
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367 "lwi r3, r0, pulStatusAddr \n\t" \
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368 "sw r0, r0, r3 \n\t" \
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369 "addi r8, r8, -8 \n\t" \
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370 "cmp r8, r8, r5 \n\t" \
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371 "beqi r8, 12 \n\t" \
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372 "lwi r3, r0, pulStatusAddr \n\t" \
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373 "sw r0, r0, r3 \n\t" \
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374 "addi r9, r9, -9 \n\t" \
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375 "cmp r9, r9, r5 \n\t" \
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376 "beqi r9, 12 \n\t" \
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377 "lwi r3, r0, pulStatusAddr \n\t" \
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378 "sw r0, r0, r3 \n\t" \
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379 "addi r10, r10, -10 \n\t" \
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380 "cmp r10, r10, r5 \n\t" \
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381 "beqi r10, 12 \n\t" \
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382 "lwi r3, r0, pulStatusAddr \n\t" \
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383 "sw r0, r0, r3 \n\t" \
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384 "addi r11, r11, -11 \n\t" \
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385 "cmp r11, r11, r5 \n\t" \
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386 "beqi r11, 12 \n\t" \
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387 "lwi r3, r0, pulStatusAddr \n\t" \
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388 "sw r0, r0, r3 \n\t" \
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389 "addi r12, r12, -12 \n\t" \
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390 "cmp r12, r12, r5 \n\t" \
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391 "beqi r12, 12 \n\t" \
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392 "lwi r3, r0, pulStatusAddr \n\t" \
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393 "sw r0, r0, r3 \n\t" \
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394 "sw r0, r0, r3 \n\t" \
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395 "addi r16, r16, -16 \n\t" \
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396 "cmp r16, r16, r5 \n\t" \
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397 "beqi r16, 12 \n\t" \
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398 "lwi r3, r0, pulStatusAddr \n\t" \
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399 "sw r0, r0, r3 \n\t" \
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400 "addi r17, r17, -17 \n\t" \
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401 "cmp r17, r17, r5 \n\t" \
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402 "beqi r17, 12 \n\t" \
\r
403 "lwi r3, r0, pulStatusAddr \n\t" \
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404 "sw r0, r0, r3 \n\t" \
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405 "addi r18, r18, -18 \n\t" \
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406 "cmp r18, r18, r5 \n\t" \
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407 "beqi r18, 12 \n\t" \
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408 "lwi r3, r0, pulStatusAddr \n\t" \
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409 "sw r0, r0, r3 \n\t" \
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410 "addi r19, r19, -19 \n\t" \
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411 "cmp r19, r19, r5 \n\t" \
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412 "beqi r19, 12 \n\t" \
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413 "lwi r3, r0, pulStatusAddr \n\t" \
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414 "sw r0, r0, r3 \n\t" \
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415 "addi r20, r20, -20 \n\t" \
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416 "cmp r20, r20, r5 \n\t" \
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417 "beqi r20, 12 \n\t" \
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418 "lwi r3, r0, pulStatusAddr \n\t" \
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419 "sw r0, r0, r3 \n\t" \
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420 "addi r21, r21, -21 \n\t" \
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421 "cmp r21, r21, r5 \n\t" \
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422 "beqi r21, 12 \n\t" \
\r
423 "lwi r3, r0, pulStatusAddr \n\t" \
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424 "sw r0, r0, r3 \n\t" \
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425 "addi r22, r22, -22 \n\t" \
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426 "cmp r22, r22, r5 \n\t" \
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427 "beqi r22, 12 \n\t" \
\r
428 "lwi r3, r0, pulStatusAddr \n\t" \
\r
429 "sw r0, r0, r3 \n\t" \
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430 "addi r23, r23, -23 \n\t" \
\r
431 "cmp r23, r23, r5 \n\t" \
\r
432 "beqi r23, 12 \n\t" \
\r
433 "lwi r3, r0, pulStatusAddr \n\t" \
\r
434 "sw r0, r0, r3 \n\t" \
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435 "addi r24, r24, -24 \n\t" \
\r
436 "cmp r24, r24, r5 \n\t" \
\r
437 "beqi r24, 12 \n\t" \
\r
438 "lwi r3, r0, pulStatusAddr \n\t" \
\r
439 "sw r0, r0, r3 \n\t" \
\r
440 "addi r25, r25, -25 \n\t" \
\r
441 "cmp r25, r25, r5 \n\t" \
\r
442 "beqi r25, 12 \n\t" \
\r
443 "lwi r3, r0, pulStatusAddr \n\t" \
\r
444 "sw r0, r0, r3 \n\t" \
\r
445 "addi r26, r26, -26 \n\t" \
\r
446 "cmp r26, r26, r5 \n\t" \
\r
447 "beqi r26, 12 \n\t" \
\r
448 "lwi r3, r0, pulStatusAddr \n\t" \
\r
449 "sw r0, r0, r3 \n\t" \
\r
450 "addi r27, r27, -27 \n\t" \
\r
451 "cmp r27, r27, r5 \n\t" \
\r
452 "beqi r27, 12 \n\t" \
\r
453 "lwi r3, r0, pulStatusAddr \n\t" \
\r
454 "sw r0, r0, r3 \n\t" \
\r
455 "addi r28, r28, -28 \n\t" \
\r
456 "cmp r28, r28, r5 \n\t" \
\r
457 "beqi r28, 12 \n\t" \
\r
458 "lwi r3, r0, pulStatusAddr \n\t" \
\r
459 "sw r0, r0, r3 \n\t" \
\r
460 "addi r29, r29, -29 \n\t" \
\r
461 "cmp r29, r29, r5 \n\t" \
\r
462 "beqi r29, 12 \n\t" \
\r
463 "lwi r3, r0, pulStatusAddr \n\t" \
\r
464 "sw r0, r0, r3 \n\t" \
\r
465 "addi r30, r30, -30 \n\t" \
\r
466 "cmp r30, r30, r5 \n\t" \
\r
467 "beqi r30, 12 \n\t" \
\r
468 "lwi r3, r0, pulStatusAddr \n\t" \
\r
469 "sw r0, r0, r3 \n\t" \
\r
470 "addi r31, r31, -31 \n\t" \
\r
471 "cmp r31, r31, r5 \n\t" \
\r
472 "beqi r31, 12 \n\t" \
\r
473 "lwi r3, r0, pulStatusAddr \n\t" \
\r
474 "sw r0, r0, r3 \n\t"
\r
projects / freertos / blob